// MIT License

// Copyright (c) 2019 Edward Liu

// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:

// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.

#pragma once

#include <glog/logging.h>
#include <fstream>
#include <memory>
#include <string>
#include "pointmatcher/PointMatcher.h"
#include "registrators/interface.h"

namespace static_map {
namespace registrator {

struct IcpUsingPointMatcherMem;

class IcpUsingPointMatcher : public Interface {
 public:
  USE_REGISTRATOR_CLOUDS;

  explicit IcpUsingPointMatcher(const std::string& ymal_file = "");
  ~IcpUsingPointMatcher();

  PROHIBIT_COPY_AND_ASSIGN(IcpUsingPointMatcher);

  void SetInputSource(InnerCloudPtr cloud) override;
  void SetInputTarget(InnerCloudPtr cloud) override;
  bool Align(const Eigen::Matrix4d& guess, Eigen::Matrix4d& result) override;

 protected:
  void loadDefaultConfig();
  void loadConfig(const std::string& yaml_filename);

 private:
  std::unique_ptr<IcpUsingPointMatcherMem> inner_;
};

}  // namespace registrator
}  // namespace static_map
